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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <rcl_action/action_client.h>
#include <rcl_action/wait.h>
#include <rclcpp/node_interfaces/node_base_interface.hpp>
#include <rclcpp/node_interfaces/node_logging_interface.hpp>
#include <algorithm>
#include <map>
#include <memory>
#include <random>
#include <string>
#include <tuple>
#include <utility>
#include "rclcpp_action/client.hpp"
#include "rclcpp_action/exceptions.hpp"
namespace rclcpp_action
{
class ClientBaseImpl
{
public:
ClientBaseImpl(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
const std::string & action_name,
const rosidl_action_type_support_t * type_support,
const rcl_action_client_options_t & client_options)
: node_graph_(node_graph),
node_handle(node_base->get_shared_rcl_node_handle()),
logger(node_logging->get_logger().get_child("rclcpp_action")),
random_bytes_generator(std::random_device{} ())
{
std::weak_ptr<rcl_node_t> weak_node_handle(node_handle);
client_handle = std::shared_ptr<rcl_action_client_t>(
new rcl_action_client_t, [weak_node_handle](rcl_action_client_t * client)
{
auto handle = weak_node_handle.lock();
if (handle) {
if (RCL_RET_OK != rcl_action_client_fini(client, handle.get())) {
RCLCPP_ERROR(
rclcpp::get_logger(rcl_node_get_logger_name(handle.get())).get_child("rclcpp_action"),
"Error in destruction of rcl action client handle: %s", rcl_get_error_string().str);
rcl_reset_error();
}
} else {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp_action"),
"Error in destruction of rcl action client handle: "
"the Node Handle was destructed too early. You will leak memory");
}
delete client;
});
*client_handle = rcl_action_get_zero_initialized_client();
rcl_ret_t ret = rcl_action_client_init(
client_handle.get(), node_handle.get(), type_support,
action_name.c_str(), &client_options);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "could not initialize rcl action client");
}
ret = rcl_action_client_wait_set_get_num_entities(
client_handle.get(),
&num_subscriptions,
&num_guard_conditions,
&num_timers,
&num_clients,
&num_services);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "could not retrieve rcl action client details");
}
}
size_t num_subscriptions{0u};
size_t num_guard_conditions{0u};
size_t num_timers{0u};
size_t num_clients{0u};
size_t num_services{0u};
bool is_feedback_ready{false};
bool is_status_ready{false};
bool is_goal_response_ready{false};
bool is_cancel_response_ready{false};
bool is_result_response_ready{false};
rclcpp::Context::SharedPtr context_;
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
// node_handle must be destroyed after client_handle to prevent memory leak
std::shared_ptr<rcl_node_t> node_handle{nullptr};
std::shared_ptr<rcl_action_client_t> client_handle{nullptr};
rclcpp::Logger logger;
using ResponseCallback = std::function<void (std::shared_ptr<void> response)>;
std::map<int64_t, ResponseCallback> pending_goal_responses;
std::mutex goal_requests_mutex;
std::map<int64_t, ResponseCallback> pending_result_responses;
std::mutex result_requests_mutex;
std::map<int64_t, ResponseCallback> pending_cancel_responses;
std::mutex cancel_requests_mutex;
std::independent_bits_engine<
std::default_random_engine, 8, unsigned int> random_bytes_generator;
};
ClientBase::ClientBase(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
const std::string & action_name,
const rosidl_action_type_support_t * type_support,
const rcl_action_client_options_t & client_options)
: pimpl_(new ClientBaseImpl(
node_base, node_graph, node_logging, action_name, type_support, client_options))
{
}
ClientBase::~ClientBase()
{
}
bool
ClientBase::action_server_is_ready() const
{
bool is_ready;
rcl_ret_t ret = rcl_action_server_is_available(
this->pimpl_->node_handle.get(),
this->pimpl_->client_handle.get(),
&is_ready);
if (RCL_RET_NODE_INVALID == ret) {
const rcl_node_t * node_handle = this->pimpl_->node_handle.get();
if (node_handle && !rcl_context_is_valid(node_handle->context)) {
// context is shutdown, do a soft failure
return false;
}
}
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "rcl_action_server_is_available failed");
}
return is_ready;
}
bool
ClientBase::wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout)
{
auto start = std::chrono::steady_clock::now();
// make an event to reuse, rather than create a new one each time
auto node_ptr = pimpl_->node_graph_.lock();
if (!node_ptr) {
throw rclcpp::exceptions::InvalidNodeError();
}
// check to see if the server is ready immediately
if (this->action_server_is_ready()) {
return true;
}
auto event = node_ptr->get_graph_event();
if (timeout == std::chrono::nanoseconds(0)) {
// check was non-blocking, return immediately
return false;
}
// update the time even on the first loop to account for time spent in the first call
// to this->server_is_ready()
std::chrono::nanoseconds time_to_wait =
timeout > std::chrono::nanoseconds(0) ?
timeout - (std::chrono::steady_clock::now() - start) :
std::chrono::nanoseconds::max();
if (time_to_wait < std::chrono::nanoseconds(0)) {
// Do not allow the time_to_wait to become negative when timeout was originally positive.
// Setting time_to_wait to 0 will allow one non-blocking wait because of the do-while.
time_to_wait = std::chrono::nanoseconds(0);
}
do {
if (!rclcpp::ok(this->pimpl_->context_)) {
return false;
}
// Limit each wait to 100ms to workaround an issue specific to the Connext RMW implementation.
// A race condition means that graph changes for services becoming available may trigger the
// wait set to wake up, but then not be reported as ready immediately after the wake up
// (see https://github.com/ros2/rmw_connext/issues/201)
// If no other graph events occur, the wait set will not be triggered again until the timeout
// has been reached, despite the service being available, so we artificially limit the wait
// time to limit the delay.
node_ptr->wait_for_graph_change(
event, std::min(time_to_wait, std::chrono::nanoseconds(RCL_MS_TO_NS(100))));
// Because of the aforementioned race condition, we check if the service is ready even if the
// graph event wasn't triggered.
event->check_and_clear();
if (this->action_server_is_ready()) {
return true;
}
// server is not ready, loop if there is time left
if (timeout > std::chrono::nanoseconds(0)) {
time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
}
// if timeout is negative, time_to_wait will never reach zero
} while (time_to_wait > std::chrono::nanoseconds(0));
return false; // timeout exceeded while waiting for the server to be ready
}
rclcpp::Logger
ClientBase::get_logger()
{
return pimpl_->logger;
}
size_t
ClientBase::get_number_of_ready_subscriptions()
{
return pimpl_->num_subscriptions;
}
size_t
ClientBase::get_number_of_ready_guard_conditions()
{
return pimpl_->num_guard_conditions;
}
size_t
ClientBase::get_number_of_ready_timers()
{
return pimpl_->num_timers;
}
size_t
ClientBase::get_number_of_ready_clients()
{
return pimpl_->num_clients;
}
size_t
ClientBase::get_number_of_ready_services()
{
return pimpl_->num_services;
}
bool
ClientBase::add_to_wait_set(rcl_wait_set_t * wait_set)
{
rcl_ret_t ret = rcl_action_wait_set_add_action_client(
wait_set, pimpl_->client_handle.get(), nullptr, nullptr);
return RCL_RET_OK == ret;
}
bool
ClientBase::is_ready(rcl_wait_set_t * wait_set)
{
rcl_ret_t ret = rcl_action_client_wait_set_get_entities_ready(
wait_set, pimpl_->client_handle.get(),
&pimpl_->is_feedback_ready,
&pimpl_->is_status_ready,
&pimpl_->is_goal_response_ready,
&pimpl_->is_cancel_response_ready,
&pimpl_->is_result_response_ready);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "failed to check for any ready entities");
}
return
pimpl_->is_feedback_ready ||
pimpl_->is_status_ready ||
pimpl_->is_goal_response_ready ||
pimpl_->is_cancel_response_ready ||
pimpl_->is_result_response_ready;
}
void
ClientBase::handle_goal_response(
const rmw_request_id_t & response_header,
std::shared_ptr<void> response)
{
std::lock_guard<std::mutex> guard(pimpl_->goal_requests_mutex);
const int64_t & sequence_number = response_header.sequence_number;
if (pimpl_->pending_goal_responses.count(sequence_number) == 0) {
RCLCPP_ERROR(pimpl_->logger, "unknown goal response, ignoring...");
return;
}
pimpl_->pending_goal_responses[sequence_number](response);
pimpl_->pending_goal_responses.erase(sequence_number);
}
void
ClientBase::send_goal_request(std::shared_ptr<void> request, ResponseCallback callback)
{
std::unique_lock<std::mutex> guard(pimpl_->goal_requests_mutex);
int64_t sequence_number;
rcl_ret_t ret = rcl_action_send_goal_request(
pimpl_->client_handle.get(), request.get(), &sequence_number);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send goal request");
}
assert(pimpl_->pending_goal_responses.count(sequence_number) == 0);
pimpl_->pending_goal_responses[sequence_number] = callback;
}
void
ClientBase::handle_result_response(
const rmw_request_id_t & response_header,
std::shared_ptr<void> response)
{
std::lock_guard<std::mutex> guard(pimpl_->result_requests_mutex);
const int64_t & sequence_number = response_header.sequence_number;
if (pimpl_->pending_result_responses.count(sequence_number) == 0) {
RCLCPP_ERROR(pimpl_->logger, "unknown result response, ignoring...");
return;
}
pimpl_->pending_result_responses[sequence_number](response);
pimpl_->pending_result_responses.erase(sequence_number);
}
void
ClientBase::send_result_request(std::shared_ptr<void> request, ResponseCallback callback)
{
std::lock_guard<std::mutex> guard(pimpl_->result_requests_mutex);
int64_t sequence_number;
rcl_ret_t ret = rcl_action_send_result_request(
pimpl_->client_handle.get(), request.get(), &sequence_number);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send result request");
}
assert(pimpl_->pending_result_responses.count(sequence_number) == 0);
pimpl_->pending_result_responses[sequence_number] = callback;
}
void
ClientBase::handle_cancel_response(
const rmw_request_id_t & response_header,
std::shared_ptr<void> response)
{
std::lock_guard<std::mutex> guard(pimpl_->cancel_requests_mutex);
const int64_t & sequence_number = response_header.sequence_number;
if (pimpl_->pending_cancel_responses.count(sequence_number) == 0) {
RCLCPP_ERROR(pimpl_->logger, "unknown cancel response, ignoring...");
return;
}
pimpl_->pending_cancel_responses[sequence_number](response);
pimpl_->pending_cancel_responses.erase(sequence_number);
}
void
ClientBase::send_cancel_request(std::shared_ptr<void> request, ResponseCallback callback)
{
std::lock_guard<std::mutex> guard(pimpl_->cancel_requests_mutex);
int64_t sequence_number;
rcl_ret_t ret = rcl_action_send_cancel_request(
pimpl_->client_handle.get(), request.get(), &sequence_number);
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send cancel request");
}
assert(pimpl_->pending_cancel_responses.count(sequence_number) == 0);
pimpl_->pending_cancel_responses[sequence_number] = callback;
}
GoalUUID
ClientBase::generate_goal_id()
{
GoalUUID goal_id;
// TODO(hidmic): Do something better than this for UUID generation.
// std::generate(
// goal_id.uuid.begin(), goal_id.uuid.end(),
// std::ref(pimpl_->random_bytes_generator));
std::generate(
goal_id.begin(), goal_id.end(),
std::ref(pimpl_->random_bytes_generator));
return goal_id;
}
std::shared_ptr<void>
ClientBase::take_data()
{
if (pimpl_->is_feedback_ready) {
std::shared_ptr<void> feedback_message = this->create_feedback_message();
rcl_ret_t ret = rcl_action_take_feedback(
pimpl_->client_handle.get(), feedback_message.get());
return std::static_pointer_cast<void>(
std::make_shared<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(
ret, feedback_message));
} else if (pimpl_->is_status_ready) {
std::shared_ptr<void> status_message = this->create_status_message();
rcl_ret_t ret = rcl_action_take_status(
pimpl_->client_handle.get(), status_message.get());
return std::static_pointer_cast<void>(
std::make_shared<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(
ret, status_message));
} else if (pimpl_->is_goal_response_ready) {
rmw_request_id_t response_header;
std::shared_ptr<void> goal_response = this->create_goal_response();
rcl_ret_t ret = rcl_action_take_goal_response(
pimpl_->client_handle.get(), &response_header, goal_response.get());
return std::static_pointer_cast<void>(
std::make_shared<std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(
ret, response_header, goal_response));
} else if (pimpl_->is_result_response_ready) {
rmw_request_id_t response_header;
std::shared_ptr<void> result_response = this->create_result_response();
rcl_ret_t ret = rcl_action_take_result_response(
pimpl_->client_handle.get(), &response_header, result_response.get());
return std::static_pointer_cast<void>(
std::make_shared<std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(
ret, response_header, result_response));
} else if (pimpl_->is_cancel_response_ready) {
rmw_request_id_t response_header;
std::shared_ptr<void> cancel_response = this->create_cancel_response();
rcl_ret_t ret = rcl_action_take_cancel_response(
pimpl_->client_handle.get(), &response_header, cancel_response.get());
return std::static_pointer_cast<void>(
std::make_shared<std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(
ret, response_header, cancel_response));
} else {
throw std::runtime_error("Taking data from action client but nothing is ready");
}
}
void
ClientBase::execute(std::shared_ptr<void> & data)
{
if (!data) {
throw std::runtime_error("'data' is empty");
}
if (pimpl_->is_feedback_ready) {
auto shared_ptr = std::static_pointer_cast<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(data);
auto ret = std::get<0>(*shared_ptr);
pimpl_->is_feedback_ready = false;
if (RCL_RET_OK == ret) {
auto feedback_message = std::get<1>(*shared_ptr);
this->handle_feedback_message(feedback_message);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
}
} else if (pimpl_->is_status_ready) {
auto shared_ptr = std::static_pointer_cast<std::tuple<rcl_ret_t, std::shared_ptr<void>>>(data);
auto ret = std::get<0>(*shared_ptr);
pimpl_->is_status_ready = false;
if (RCL_RET_OK == ret) {
auto status_message = std::get<1>(*shared_ptr);
this->handle_status_message(status_message);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
}
} else if (pimpl_->is_goal_response_ready) {
auto shared_ptr = std::static_pointer_cast<
std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
auto ret = std::get<0>(*shared_ptr);
pimpl_->is_goal_response_ready = false;
if (RCL_RET_OK == ret) {
auto response_header = std::get<1>(*shared_ptr);
auto goal_response = std::get<2>(*shared_ptr);
this->handle_goal_response(response_header, goal_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
}
} else if (pimpl_->is_result_response_ready) {
auto shared_ptr = std::static_pointer_cast<
std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
auto ret = std::get<0>(*shared_ptr);
pimpl_->is_result_response_ready = false;
if (RCL_RET_OK == ret) {
auto response_header = std::get<1>(*shared_ptr);
auto result_response = std::get<2>(*shared_ptr);
this->handle_result_response(response_header, result_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
}
} else if (pimpl_->is_cancel_response_ready) {
auto shared_ptr = std::static_pointer_cast<
std::tuple<rcl_ret_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
auto ret = std::get<0>(*shared_ptr);
pimpl_->is_cancel_response_ready = false;
if (RCL_RET_OK == ret) {
auto response_header = std::get<1>(*shared_ptr);
auto cancel_response = std::get<2>(*shared_ptr);
this->handle_cancel_response(response_header, cancel_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
}
} else {
throw std::runtime_error("Executing action client but nothing is ready");
}
}
} // namespace rclcpp_action